CN116176531A - Method and device for determining performance index of opening degree adjustment and storage medium - Google Patents
Method and device for determining performance index of opening degree adjustment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The disclosure provides a method, a device and a storage medium for determining performance indexes of opening adjustment, relates to the technical field of artificial intelligence, and particularly relates to the technical field of automatic driving and the like. The specific implementation scheme is as follows: acquiring the sending time of a brake opening command of a brake control system of a vehicle chassis under the condition that the opening of an accelerator pedal is fixed; determining the start execution time of a brake control system for starting to execute a brake opening command; determining the delay time of the brake control system in a pure delay link according to the sending time and the starting execution time; determining inertial parameters of a brake control system in a first-order inertial link; determining a transfer function of the brake control system according to the delay time and the inertia parameter; and determining the performance index of opening degree adjustment of the brake control system according to the transfer function of the brake control system. Therefore, the performance index of the opening degree adjustment of the brake control system can be conveniently and rapidly determined.
Description
Technical Field
The disclosure relates to the field of artificial intelligence, in particular to the technical field of automatic driving and the like, and particularly relates to a method, a device and a storage medium for determining performance indexes of opening adjustment.
Background
With the development of technology, automatic driving vehicles become an important development direction of future automobiles. The automatic driving vehicle not only can help to improve the travel convenience and travel experience of people, but also can greatly improve the travel efficiency of people.
In an autonomous vehicle, the performance of the opening degree of a brake control system in the chassis of the vehicle is important for the development of an autonomous algorithm in an autonomous vehicle. In the related art, the performance index of the brake opening degree adjustment is generally used to represent the opening degree execution condition of the brake control system, so how to quickly obtain the performance index of the brake opening degree adjustment of the brake control system in a convenient manner is very important for accelerating the development of an automatic driving algorithm.
Disclosure of Invention
The disclosure provides a method, a device and a storage medium for determining performance indexes of opening degree adjustment.
According to an aspect of the present disclosure, there is provided a method of determining performance index of opening adjustment, in which a transmission time of a brake opening command for a brake control system of a vehicle chassis is acquired with an opening of an accelerator pedal fixed; determining a start execution time at which the brake control system starts executing the brake opening command; determining the delay time of the brake control system in a pure delay link according to the sending time and the starting execution time; determining inertial parameters of the brake control system in a first-order inertial link; determining a transfer function of the brake control system according to the delay time and the inertia parameter; and determining the performance index of opening degree adjustment of the brake control system according to the transfer function of the brake control system.
According to another aspect of the present disclosure, there is provided a determining device of performance index of opening adjustment, an obtaining module, configured to obtain a transmission time of a brake opening instruction for a brake control system in a vehicle chassis, in a case where an opening of an accelerator pedal is fixed; the first determining module is used for determining the starting execution time of the brake control system for starting to execute the brake opening command; the second determining module is used for determining the delay time of the brake control system in a pure delay link according to the sending time and the starting execution time; the third determining module is used for determining inertial parameters of the brake control system in a first-order inertial link; a fourth determining module, configured to determine a transfer function of the brake control system according to the delay time and the inertia parameter; and a fifth determining module, configured to determine a performance index of opening adjustment of the brake control system according to a transfer function of the brake control system.
According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of determining a performance index for opening adjustment of the present disclosure.
According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute a method of determining a performance index of opening degree adjustment disclosed in an embodiment of the present disclosure.
According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements a method of determining a performance index of an opening degree adjustment of the present disclosure.
According to another aspect of the present disclosure, there is provided a vehicle including the electronic device disclosed in the embodiments of the present disclosure.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a schematic diagram according to a first embodiment of the present disclosure;
FIG. 2 is a schematic diagram according to a second embodiment of the present disclosure;
FIG. 3 is an exemplary plot of acceleration state curves, a first fitting function, and a second fitting function, according to one embodiment of the present disclosure;
FIG. 4 is a schematic diagram according to a third embodiment of the present disclosure
FIG. 5 is a schematic diagram according to a fourth embodiment of the present disclosure;
FIG. 6 is an example diagram of a process of opening testing, data acquisition, of a brake control system according to one embodiment of the present disclosure;
FIG. 7 is a schematic diagram according to a fifth embodiment of the present disclosure;
FIG. 8 is a schematic diagram according to a sixth embodiment of the present disclosure;
fig. 9 is a block diagram of an electronic device used to implement a method of determining performance indicators for opening degree adjustment according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In the related art, a special test device is generally used for testing the brake opening performance of a brake control system in a vehicle chassis, test data are collected, then collected data are processed in a manual mode to obtain an opening adjustment performance index of the brake control system, the mode of determining the opening adjustment performance index needs manual participation, the process is complicated, the operation efficiency is low, and the efficiency of obtaining the opening adjustment performance index is low.
For this reason, the present application proposes a method, an apparatus, a device, and a storage medium for determining a performance index of opening adjustment, where the method may include: acquiring the sending time of a brake opening command of a brake control system of a vehicle chassis under the condition that the opening of an accelerator pedal is fixed; determining the start execution time of a brake control system for starting to execute a brake opening command; determining the delay time of the brake control system in a pure delay link according to the sending time and the starting execution time; determining inertial parameters of a brake control system in a first-order inertial link; determining a transfer function of the brake control system according to the delay time and the inertia parameter; and determining the performance index of opening degree adjustment of the brake control system according to the transfer function of the brake control system. Therefore, the performance index of the opening degree adjustment of the brake control system can be conveniently and rapidly determined without manual participation, and the efficiency of obtaining the performance index of the opening degree adjustment of the brake control system is improved.
A method, apparatus, and storage medium for determining performance index of opening degree adjustment according to an embodiment of the present disclosure are described below with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of a first embodiment according to the present disclosure, which provides a method for determining performance index of opening degree adjustment.
As shown in fig. 1, the method for determining the performance index of the opening degree adjustment may include:
step 101, when the opening of the accelerator pedal is fixed, acquiring a transmission time of a brake opening command for a brake control system of a vehicle chassis.
The brake opening command is a command for controlling the opening of a brake pedal of a brake control system.
In this embodiment, the execution subject of the performance index determining method for opening adjustment is the performance index determining device for opening adjustment, and the performance index determining device for opening adjustment may be implemented by software and/or hardware, and the performance index determining device for opening adjustment may be an electronic device, or may be configured in an electronic device.
Wherein the electronic device may be configured in a vehicle. As one example, an autopilot system may be configured in the vehicle. It is understood that in the case of an autonomous system in a vehicle, the vehicle may also be referred to as a vehicle with an autonomous function, or may be referred to as an autonomous vehicle.
In some exemplary embodiments, it may be detected whether the brake control system starts executing the brake opening command, and in the case where it is detected that the brake control system starts executing the brake opening command, the corresponding time at this time is taken as the start execution time at which the brake control system starts executing the brake opening command.
And step 103, determining the delay time of the brake control system in a pure delay link according to the sending time and the starting execution time.
In some exemplary embodiments, the start execution time may be subtracted from the transmit time to obtain the delay time of the brake control system in a pure delay link.
For example, for τ to represent delay time, then the formula for calculating τ is: τ=t 1 -t 0 . Wherein t is in the formula 1 Indicating the start execution time, t 0 Indicating the time of transmission.
Wherein the delay time is used to represent a time interval between a transmission time of the brake opening command and a start execution time at which the brake control system starts executing the brake opening command.
The inertia parameter refers to a parameter representing the inertia condition of the brake control system in a first-order inertia link.
Wherein the inertial parameters in this example may include inertial parameter a 0 And inertial parameter a 1 Wherein 1/a 0 Time constant for representing first-order inertial links, a 1 /a 0 And the scaling factor is used for representing the first-order inertia link.
In some exemplary embodiments, the inertial parameter a is calculated after the delay time τ is obtained 0 And inertial parameter a 1 Then, correspondingly, the transfer function of the brake control system
Wherein S in the transfer function is a laplace operator.
It is understood that the brake control system in this example may be abstracted into a combination of first-order inertia links plus pure delay links. Correspondingly, the transfer function of the brake control system may be represented by a transfer function of a first order inertia element plus a pure delay element.
And 106, determining performance indexes of opening degree adjustment of the brake control system according to the transfer function of the brake control system.
In some exemplary embodiments, the transfer function may be processed to obtain an expression of the transfer function in the complex frequency domain, and the inverse laplace transform may be performed on the expression in the complex frequency domain to obtain a response result in the time domain, and the performance index of the opening degree adjustment of the brake control system may be determined according to the response result in the time domain.
The performance index is an index that can characterize the opening degree adjustment performance of the brake control system.
Performance metrics may include, but are not limited to, execution time, overshoot, and the like.
According to the method for determining the performance index of the opening adjustment, under the condition that the opening of the accelerator pedal is fixed, the sending time of a brake opening instruction of a brake control system of a vehicle chassis is obtained; determining the start execution time of a brake control system for starting to execute a brake opening command; determining the delay time of the brake control system in a pure delay link according to the sending time and the starting execution time; determining inertial parameters of a brake control system in a first-order inertial link; determining a transfer function of the brake control system according to the delay time and the inertia parameter; and determining the performance index of opening degree adjustment of the brake control system according to the transfer function of the brake control system. Therefore, the performance index of the opening degree adjustment of the brake control system can be conveniently and rapidly determined without manual participation, and the efficiency of obtaining the performance index of the opening degree adjustment of the brake control system is improved.
In some exemplary embodiments, in order to accurately determine the start execution time of the brake control system to start executing the brake opening command, the start execution time of the brake opening command may be determined in conjunction with an acceleration state curve of the vehicle at the opening indicated by the brake opening command. In order that the process can be clearly understood, an exemplary description will be given below of a method of determining the performance index of the opening degree adjustment in conjunction with fig. 2.
Fig. 2 is a schematic diagram according to a second embodiment of the present disclosure.
As shown in fig. 2, the method may include:
in step 201, when the opening degree of the accelerator pedal is fixed, a transmission time of a brake opening degree command for a brake control system of a vehicle chassis is acquired.
The acceleration state curve is a curve obtained by drawing acceleration values corresponding to all sampling points.
As an exemplary embodiment, an acceleration state curve of the vehicle after the transmission time of the brake opening command may be acquired.
Wherein i is a positive integer and is less than or equal to N, where N represents the total number of sampling points on the acceleration state curve.
In some exemplary embodiments, the second acceleration value at each sampling point may be determined based on the first fitting function and the second fitting function, and the absolute value of the difference between the first acceleration value and the second acceleration value at each sampling point may be summed to obtain a sum of fitting deviations obtained when fitting with the ith sampling point as a demarcation point.
In some exemplary embodiments, the second acceleration value at the i-th sampling point and the second acceleration value at each first sampling point may be determined according to a first fitting function; determining a second acceleration value at each second sampling point according to the second fitting function; and carrying out summation processing on the absolute value of the difference between the first acceleration value and the second acceleration value at each first sampling point, the absolute value of the difference between the first acceleration value and the second acceleration value at the ith sampling point and the absolute value of the difference between the first acceleration value and the second acceleration value at each second sampling point to obtain a fitting deviation sum obtained when the ith sampling point is used as a demarcation point for fitting. Thus, the fitting deviation sum can be accurately determined.
For example, the acceleration state curve includes N sampling points, where Xi represents a corresponding first acceleration value at the ith sampling point, and the value of i ranges from 1 to N. Correspondingly, for the ith sampling point on the acceleration state curve, [ X1, xi ]]Fitting is performed to obtain a first fitting function f1 (t). Correspondingly, the method can be used for the following steps of [ X (i+1), XN]Fitting is performed to obtain a second fitting function f2 (t). Then, determining the second acceleration value of each of the first i sampling points based on the first fitting function, determining the second acceleration value of each of the last N-i sampling points based on the second fitting function, and then, based on the first acceleration corresponding to each of the sampling pointsDetermining the fitting deviation and cost [ i ] obtained when the i-th sampling point is used as a demarcation point for fitting]. Wherein cost [ i ]]The corresponding calculation formula is:
wherein Xj represents a first acceleration value of the jth sampling point, f1 (j) represents a second acceleration value of the jth sampling point, and j has a value from 1 to i. Correspondingly, f2 (j) represents the second acceleration value of the j-th sampling point, and the value of j is from i+1 to N.
And 206, obtaining a minimum deviation sum from fitting deviation sums obtained when fitting is performed by taking the sampling points as demarcation points, and determining the start execution time of the brake opening command based on the minimum deviation sum corresponding to the target sampling points.
The target sampling point is the boundary point between the constant flat section and the linear slope section of the acceleration state curve.
It can be understood that the time information corresponding to the target sampling point is the start execution time of the brake control system when the brake control system starts executing the brake opening command.
It is understood that, before the brake opening command is not executed, since the opening of the accelerator pedal in the vehicle and the opening of the brake pedal in the brake control system are not changed, the acceleration value of the vehicle is kept unchanged, and correspondingly, an acceleration curve section with the constant acceleration value exists in the acceleration state curve, and the acceleration curve section with the constant acceleration value is a constant flat section. Accordingly, when the opening degree of the accelerator pedal is fixed, after receiving a brake opening degree command for the brake control system, the brake control system correspondingly adjusts the opening degree of the brake pedal according to the brake opening degree command, and at this time, the acceleration value of the vehicle changes over a period of time. Correspondingly, an acceleration curve section with a variable acceleration value exists in the acceleration state curve, and the section is a linear slope section.
For example, an exemplary graph containing an acceleration state curve, a first linear function, and a second linear function is shown in FIG. 3. As can be seen from fig. 3, a in fig. 3 represents an acceleration state curve, correspondingly, the target sampling point D on the acceleration state curve is taken as a demarcation point, and the acceleration values of the demarcation point and the sampling point before the target sampling point on the acceleration state curve are fitted to obtain a first fitting function, B in fig. 3 represents a first fitting function, and correspondingly, the acceleration values of the sampling point after the demarcation point are fitted to obtain a second fitting function. Wherein the second fitting function is denoted by C in fig. 3. As can be seen from fig. 3, the first fitting function and the second fitting function are both linear functions.
In step 208, inertial parameters of the brake control system in the first-order inertial link are determined.
It should be noted that, regarding the specific implementation manner of the steps 207 to 210, reference may be made to the related description of the embodiments of the present disclosure, which is not repeated here.
In this example, an acceleration state curve of the vehicle at the opening indicated by the brake opening command is acquired, the acceleration state curve is analyzed, and the start execution time of the brake control system to start executing the brake opening command is accurately determined according to the analysis result. Thereby, the accuracy and robustness of the determined start execution time is improved.
In some exemplary embodiments, in order to accurately determine the inertia parameter of the brake control system in the first-order inertia link, the target transfer function of the brake control system in the first-order inertia link may be determined according to the transfer function, and the inertia parameter of the brake control system in the first-order inertia link may be determined by combining the target transfer function. In order that the process may be clearly understood, an exemplary description of the method of this embodiment is provided below in connection with fig. 4.
Fig. 4 is a schematic diagram according to a third embodiment of the present disclosure.
As shown in fig. 4, the method may include:
in step 401, when the opening degree of the accelerator pedal is fixed, a transmission time of a brake opening degree command for a brake control system of a vehicle chassis is acquired.
For the specific implementation manners of steps 401 to 403, reference may be made to the related descriptions of the embodiments of the disclosure, which are not repeated here.
In some exemplary embodiments, the target transfer function of the brake control system at the first order inertia element may be extracted from the transfer function of the brake control system.
As one example, the transfer function is:
Correspondingly, the transfer function is extracted, and the obtained target transfer function of the brake control system in the first-order inertia link is as follows:
therefore, the target transfer function of the brake control system in the first-order inertia link is accurately determined, and the subsequent accurate determination of the brake based on the target transfer function is convenientAnd controlling inertial parameters of the system in a first-order inertial link.
And 405, discretizing the target transfer function, and solving the discretized transfer function to obtain the inertia parameter.
In some exemplary embodiments, the target transfer function may be discretized by the euler backward difference method or the bilinear variation method, and solved according to the discretized target transfer function using a least square method to obtain the inertia parameter. Therefore, the inertia parameters of the brake control system in the first-order inertia link can be accurately determined.
The following describes the process of discretizing the objective transfer function by using the euler backward difference method, and solving the objective transfer function by using the least square method according to the discretized objective transfer function to obtain the inertia parameter a0 and the inertia parameter a1 in an exemplary manner:
can be used for
Is carried into a target transfer function G(s)' to obtain a processed G (z), wherein the formula corresponding to the G (z) is as follows:
where T is the sampling time interval.
The conversion of G (z) above to a differential equation is shown below:
(a 0 T+1)*r(k)+a 1 T*u(k)＝y(k-1)
where y (k) and u (k) are the output and input at kT time.
Where y (k) and u (k) are the output and input at kT time.
Let Θ= [ (a) 0 T+1,a 1 T]，X＝[y(k),u(k)]' can be converted into the following form:
ΘX＝y(k-1)
The linear recursive least squares (Recursive Least Square, RLS) method is used to obtain Θ, and thus the a0 and a1 parameters can be obtained.
The RLS formula is as follows:
K k ＝P k φ k
further, the corresponding values of a0 and a1 can be obtained as follows:
the following describes an exemplary process of discretizing a target transfer function by using a bilinear variation method, and solving the target transfer function after discretization by using a least square method to obtain an inertial parameter:
can be firstly put into
In the objective transfer function G(s)' to obtain a processed G (z), a formula corresponding to G (z) is:
wherein ,
the expression corresponding to G (z) can then be converted to a differential equation as follows:
finally, solving the differential mode by adopting the RLS method to obtain an inertial parameter a0 and an inertial parameter a 1.
For the process of solving the differential mode by using the RLS method, reference may be made to the description in the related art, and the description is omitted here.
In this example, according to the transfer function, the target transfer function of the brake control system in the first-order inertia link is determined, and the target transfer function is processed, so that the inertia parameter of the brake control system in the first-order inertia link can be accurately determined. Therefore, the inertia parameters of the brake control system in the first-order inertia link can be accurately determined.
In order that the present disclosure may be clearly understood, a method of determining the performance index of the opening degree adjustment of this embodiment is exemplarily described below with reference to fig. 5 and 6.
Fig. 5 is a schematic diagram according to a fourth embodiment of the present disclosure.
As shown in fig. 5, the method may include:
Specifically, when the opening degree of the accelerator pedal is fixed, a brake opening degree command of the brake control system may be transmitted to the vehicle via a controller area network Bus (ControLLer Area Net-work Bus, CANBUS), and the transmission time of the brake opening degree command may be recorded.
In some exemplary embodiments, in the process of performing the opening test on the brake control system, after the brake opening command is sent, acceleration values of the vehicle at a plurality of sampling points may be acquired through CANBUS, an acceleration state curve is generated based on the acquired acceleration values at the sampling points, and then, based on the acceleration state curve, a start execution time of the brake control system to start executing the brake opening command is determined.
For a specific implementation manner of determining the start execution time of the brake control system to start executing the brake opening command based on the acceleration state curve, reference may be made to the related description of the embodiments of the present disclosure, which is not repeated herein.
In step 504, inertial parameters of the brake control system in a first order inertial link are determined.
The process of opening degree testing and data acquisition of the brake control system is exemplarily described below with reference to fig. 6. Specifically, a brake opening command of a brake control system may be transmitted to a vehicle through a controller area network Bus (ControLLer Area Net-work Bus, CANBUS), and a transmission time of the brake opening command may be recorded. Then, in the opening test process, data acquisition is carried out on the vehicle through CANBUS so as to obtain acquisition data, the acquisition data are processed in a mode proposed by the disclosure so as to obtain delay time of the brake control system in a pure delay link, transfer functions of the control system are determined based on the delay time and inertial parameters of the brake control system in a first-order inertial link, and performance indexes of opening adjustment of the brake control system are determined based on the determined transfer functions.
In this example, the performance index of the opening degree adjustment of the brake control system can be automatically determined, the cost of determining the performance index of the opening degree adjustment of the brake control system is reduced, and the efficiency of the performance index of the opening degree adjustment of the brake control system is improved.
In order to achieve the above embodiments, the embodiments of the present disclosure further provide a device for determining a performance index of opening adjustment.
Fig. 7 is a schematic view of a fifth embodiment according to the present disclosure, which provides a determining device of an opening degree-adjusted performance index, wherein the determining device of an opening degree-adjusted performance index is applied in a vehicle.
As shown in fig. 7, the determining apparatus 700 of the performance index of opening degree adjustment may include an acquisition module 701, a first determining module 702, a second determining module 703, a third determining module 704, a fourth determining module 705, and a fifth determining module 706, wherein:
an acquisition module 701, configured to acquire a transmission time of a brake opening command for a brake control system in a vehicle chassis, in a case where an opening of an accelerator pedal is fixed.
A first determining module 702 is configured to determine a start execution time for the brake control system to start executing the brake opening command.
The second determining module 703 is configured to determine a delay time of the brake control system in the pure delay link according to the sending time and the start execution time.
And a third determining module 704, configured to determine an inertia parameter of the brake control system in the first-order inertia link.
A fourth determination module 705 for determining a transfer function of the brake control system based on the delay time and the inertia parameter.
A fifth determining module 706, configured to determine a performance index of opening adjustment of the brake control system according to a transfer function of the brake control system.
The determining device of performance index of opening adjustment in the embodiment of the present disclosure obtains a transmission time of a brake opening instruction for a brake control system of a vehicle chassis under a condition that an opening of an accelerator pedal is fixed; determining the start execution time of a brake control system for starting to execute a brake opening command; determining the delay time of the brake control system in a pure delay link according to the sending time and the starting execution time; determining inertial parameters of a brake control system in a first-order inertial link; determining a transfer function of the brake control system according to the delay time and the inertia parameter; and determining the performance index of opening degree adjustment of the brake control system according to the transfer function of the brake control system. Therefore, the performance index of the opening degree adjustment of the brake control system can be conveniently and rapidly determined without manual participation, and the efficiency of obtaining the performance index of the opening degree adjustment of the brake control system is improved.
In one embodiment of the present disclosure, fig. 8 is a schematic diagram according to a sixth embodiment of the present disclosure.
As shown in fig. 8, the determining device 800 of the performance index of opening degree adjustment may include an obtaining module 801, a first determining module 802, a second determining module 803, a third determining module 804, a fourth determining module 805, and a fifth determining module 806, where the first determining module 802 includes: an acquisition unit 8021, a first determination unit 8022, a fitting unit 8023, a second determination unit 8024, and a third determination unit 8025; the third determining module 804 may include a fourth determining unit 8041 and a processing unit 8042, wherein:
for a detailed description of the obtaining module 801, the second determining module 803, the fourth determining module 805, and the fifth determining module 806, please refer to the description of the obtaining module 701, the second determining module 703, the fourth determining module 705, and the fifth determining module 706 in the embodiment shown in fig. 7, which will not be described here.
In one embodiment of the present disclosure, the first determining module 802 includes:
an acquisition unit 8021 for acquiring an acceleration state curve of the vehicle after transmitting a brake opening instruction;
a first determining unit 8022, configured to determine, for an ith sampling point on the acceleration state curve, a first acceleration value at the ith sampling point, a first acceleration value at each first sampling point located before the ith sampling point, and a first acceleration value at each second sampling point located after the ith sampling point according to the acceleration state curve, where i is a positive integer and is less than or equal to N, where N represents a total number of sampling points on the acceleration state curve;
A fitting unit 8023, configured to fit the first acceleration value at the ith sampling point and the first acceleration value at each first sampling point to obtain a first fitting function, and fit the first acceleration value at each second sampling point to obtain a second fitting function;
a second determining unit 8024, configured to determine, according to the first fitting function, the second fitting function, and the acceleration state curve, a fitting deviation sum obtained when fitting is performed with the ith sampling point as a demarcation point;
a third determining unit 8025, configured to obtain a minimum deviation sum from each fitting deviation sum obtained when fitting is performed with each sampling point as a demarcation point, and determine a start execution time of the brake opening command based on the minimum deviation sum and a corresponding target sampling point.
In one embodiment of the present disclosure, the second determining unit is specifically configured to: respectively determining a second acceleration value on the ith sampling point and a second acceleration value on each first sampling point according to the first fitting function; determining a second acceleration value at each second sampling point according to the second fitting function; and carrying out summation processing on the absolute value of the difference between the first acceleration value and the second acceleration value at each first sampling point, the absolute value of the difference between the first acceleration value and the second acceleration value at the ith sampling point and the absolute value of the difference between the first acceleration value and the second acceleration value at each second sampling point to obtain a fitting deviation sum obtained when the ith sampling point is used as a demarcation point for fitting.
In one embodiment of the present disclosure, the third determining module 804 includes:
a fourth determining unit 8041, configured to determine, according to the transfer function, a target transfer function of the brake control system in the first-order inertia link;
the processing unit 8042 is configured to perform discretization processing on the target transfer function, and solve the discretized transfer function to obtain an inertia parameter.
In one embodiment of the present disclosure, the processing unit 8042 is specifically configured to: discretizing the target transfer function by using an Euler backward difference method or a bilinear variation method; and solving according to the discretized target transfer function by using a least square method to obtain inertia parameters.
In one embodiment of the present disclosure, the transfer function is:
In one embodiment of the present disclosure, the objective transfer function is:
it should be noted that, the explanation of the method for determining the performance index of the opening degree adjustment described above is also applicable to the apparatus for determining the performance index of the opening degree adjustment in this embodiment, and this embodiment will not be described in detail.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium and a computer program product.
According to an embodiment of the present disclosure, the present disclosure also provides a vehicle including an electronic device implementing the disclosed disclosure.
Fig. 9 shows a schematic block diagram of an example electronic device 900 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 9, the electronic device 900 may include a computing unit 901 that may perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 902 or a computer program loaded from a storage unit 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The computing unit 901, the ROM 902, and the RAM 903 are connected to each other by a bus 904. An input/output (I/O) interface 905 is also connected to the bus 904.
Various components in device 900 are connected to I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, or the like; an output unit 907 such as various types of displays, speakers, and the like; a storage unit 908 such as a magnetic disk, an optical disk, or the like; and a communication unit 909 such as a network card, modem, wireless communication transceiver, or the like. The communication unit 909 allows the device 900 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunications networks.
The computing unit 901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The calculation unit 901 performs the respective methods and processes described above, such as a determination method of performance index of opening degree adjustment. For example, in some embodiments, the method of determining the performance index of the opening degree adjustment may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 900 via the ROM 902 and/or the communication unit 909. When the computer program is loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the above-described determination method of the performance index of opening degree adjustment may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the method of determining the performance index of the opening degree adjustment in any other suitable way (e.g. by means of firmware).
Various implementations of the apparatus and techniques described here above may be implemented in digital electronic circuit devices, integrated circuit devices, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), on-chip device devices (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on programmable devices including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, operable to receive data and instructions from, and to transmit data and instructions to, a storage device, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution apparatus, device, or apparatus. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor apparatus, device, or apparatus, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the apparatus and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The apparatus and techniques described here may be implemented in a computing device that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the apparatus and techniques described here), or any combination of such background, middleware, or front-end components. The components of the apparatus may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), the internet, and blockchain networks.
The computer device may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service ("Virtual Private Server" or simply "VPS") are overcome. The server may be a cloud server, a server of a distributed device, or a server incorporating a blockchain.
It should be noted that, artificial intelligence is a subject of studying a certain thought process and intelligent behavior (such as learning, reasoning, thinking, planning, etc.) of a computer to simulate a person, and has a technology at both hardware and software level. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing, and the like; the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural language processing technology, a machine learning/deep learning technology, a big data processing technology, a knowledge graph technology and the like.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (18)
1. The method for determining the performance index of the opening degree adjustment is characterized by comprising the following steps of:
acquiring the sending time of a brake opening command of a brake control system of a vehicle chassis under the condition that the opening of an accelerator pedal is fixed;
determining a start execution time at which the brake control system starts executing the brake opening command;
determining the delay time of the brake control system in a pure delay link according to the sending time and the starting execution time;
determining inertial parameters of the brake control system in a first-order inertial link;
determining a transfer function of the brake control system according to the delay time and the inertia parameter;
and determining the performance index of opening degree adjustment of the brake control system according to the transfer function of the brake control system.
2. The method of claim 1, wherein the determining a start execution time at which the brake control system starts executing the brake opening command includes:
acquiring an acceleration state curve of the vehicle after sending the brake opening command;
for an ith sampling point on the acceleration state curve, respectively determining a first acceleration value on the ith sampling point, a first acceleration value on each first sampling point before the ith sampling point and a first acceleration value on each second sampling point after the ith sampling point according to the acceleration state curve, wherein i is a positive integer and is less than or equal to N, and N represents the total number of sampling points on the acceleration state curve;
Fitting the first acceleration value on the ith sampling point and the first acceleration value on each first sampling point to obtain a first fitting function, and fitting the first acceleration value on each second sampling point to obtain a second fitting function;
determining a fitting deviation sum obtained when the ith sampling point is used as a demarcation point for fitting according to the first fitting function, the second fitting function and the acceleration state curve;
and obtaining a minimum deviation sum from fitting deviation sums obtained when fitting is carried out by taking each sampling point as a demarcation point, and determining the start execution time of the brake opening instruction based on the minimum deviation sum and the corresponding target sampling point.
3. The method of claim 2, wherein determining a sum of fitting deviations obtained when fitting the i-th sampling point as a demarcation point according to the first fitting function, the second fitting function and the acceleration state curve comprises:
respectively determining a second acceleration value on the ith sampling point and a second acceleration value on each first sampling point according to the first fitting function;
Determining a second acceleration value at each second sampling point according to the second fitting function;
and carrying out summation processing on the absolute value of the difference between the first acceleration value and the second acceleration value at each first sampling point, the absolute value of the difference between the first acceleration value and the second acceleration value at the ith sampling point and the absolute value of the difference between the first acceleration value and the second acceleration value at each second sampling point to obtain a fitting deviation sum obtained when the ith sampling point is used as a demarcation point for fitting.
4. The method of claim 1, wherein determining inertial parameters of the brake control system at a first order inertial link comprises:
determining a target transfer function of the brake control system in a first-order inertia link according to the transfer function;
discretizing the target transfer function, and solving the discretized transfer function to obtain the inertia parameter.
5. The method of claim 4, wherein discretizing the target transfer function and solving the discretized transfer function to obtain the inertial parameter comprises:
Discretizing the target transfer function by using an Euler backward difference method or a bilinear variation method;
and solving according to the discretized target transfer function by using a least square method to obtain the inertia parameter.
6. The method of claim 4, wherein the transfer function is:
7. The method of claim 6, wherein the target transfer function is:
8. a performance index determining apparatus for opening degree adjustment, comprising:
the acquisition module is used for acquiring the sending time of a brake opening instruction aiming at a brake control system in a vehicle chassis under the condition that the opening of an accelerator pedal is fixed;
the first determining module is used for determining the starting execution time of the brake control system for starting to execute the brake opening command;
the second determining module is used for determining the delay time of the brake control system in a pure delay link according to the sending time and the starting execution time;
the third determining module is used for determining inertial parameters of the brake control system in a first-order inertial link;
A fourth determining module, configured to determine a transfer function of the brake control system according to the delay time and the inertia parameter;
and a fifth determining module, configured to determine a performance index of opening adjustment of the brake control system according to a transfer function of the brake control system.
9. The apparatus of claim 8, wherein the first determination module comprises:
an acquisition unit configured to acquire an acceleration state curve of the vehicle after the brake opening instruction is transmitted;
a first determining unit, configured to determine, for an ith sampling point on the acceleration state curve, a first acceleration value at the ith sampling point, a first acceleration value at each first sampling point before the ith sampling point, and a first acceleration value at each second sampling point after the ith sampling point according to the acceleration state curve, where i is a positive integer and is less than or equal to N, where N represents a total number of sampling points on the acceleration state curve;
the fitting unit is used for fitting the first acceleration value on the ith sampling point and the first acceleration value on each first sampling point to obtain a first fitting function, and fitting the first acceleration value on each second sampling point to obtain a second fitting function;
The second determining unit is used for determining a fitting deviation sum obtained when the ith sampling point is used as a demarcation point for fitting according to the first fitting function, the second fitting function and the acceleration state curve;
and the third determining unit is used for obtaining the minimum deviation sum from each fitting deviation sum obtained when fitting is carried out by taking each sampling point as a demarcation point, and determining the starting execution time of the brake opening instruction based on the minimum deviation sum and the corresponding target sampling point.
10. The apparatus according to claim 9, wherein the second determining unit is specifically configured to:
respectively determining a second acceleration value on the ith sampling point and a second acceleration value on each first sampling point according to the first fitting function;
determining a second acceleration value at each second sampling point according to the second fitting function;
and carrying out summation processing on the absolute value of the difference between the first acceleration value and the second acceleration value at each first sampling point, the absolute value of the difference between the first acceleration value and the second acceleration value at the ith sampling point and the absolute value of the difference between the first acceleration value and the second acceleration value at each second sampling point to obtain a fitting deviation sum obtained when the ith sampling point is used as a demarcation point for fitting.
11. The apparatus of claim 8, wherein the third determination module comprises:
a fourth determining unit, configured to determine, according to the transfer function, a target transfer function of the brake control system in a first-order inertia link;
and the processing unit is used for carrying out discretization processing on the target transfer function and solving the discretized transfer function to obtain the inertia parameter.
12. The apparatus according to claim 11, wherein the processing unit is specifically configured to:
discretizing the target transfer function by using an Euler backward difference method or a bilinear variation method;
and solving according to the discretized target transfer function by using a least square method to obtain the inertia parameter.
13. The apparatus of claim 11, wherein the transfer function is:
14. The apparatus of claim 13, wherein the target transfer function is:
15. an electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
16. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.
17. A computer program product comprising a computer program which, when executed by a processor, implements the steps of the method of any of claims 1-7.
18. A vehicle comprising the electronic device of claim 15.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117075482A (en) * | 2023-10-13 | 2023-11-17 | 深圳市正弦电气股份有限公司 | Servo self-adaptive feedforward control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117075482A (en) * | 2023-10-13 | 2023-11-17 | 深圳市正弦电气股份有限公司 | Servo self-adaptive feedforward control system |
| CN117075482B (en) * | 2023-10-13 | 2024-01-05 | 深圳市正弦电气股份有限公司 | Servo self-adaptive feedforward control system |
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